Quote:
Originally Posted by Chris Hibner
I'm a big believer in overshoot as a turn quality metric (as in, less is better). It's great that a chassis turns nice and easy, but it's not great when it continues turning for an extra 30 degrees after you let go of the stick.
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I believe this issue could be fixed in software as one programmer once told me (In regards to closed loop PID) "All this math produces motor speeds necessary to get the true desired motor performance not necessarily what the user actually told the arm motor to do. (it is smarter than the driver
)."
I've measured around a 200-300 ms latency from when a voltage applied to when it actually takes effect. I realize now that this is due to moment of inertia on all the gears and wheels as well as CoF.
Perhaps this side-by-side graph can paint a picture of what I mean:
http://www.termstech.com/files/RateG...on_400_100.gif